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OpenSim Moco: Musculoskeletal optimal control [article]

Christopher L Dembia, Nicholas A Bianco, Antoine Falisse, Jennifer L Hicks, Scott L Delp
2019 bioRxiv   pre-print
Here, we introduce OpenSim Moco, a software toolkit for optimizing the motion and control of musculoskeletal models built in the OpenSim modeling and simulation package.  ...  OpenSim Moco uses the direct collocation method, which is often faster and can handle more diverse problems than other methods for musculoskeletal simulation but requires extensive technical expertise  ...  To improve the accessibility of advanced optimal control methods in musculoskeletal biomechanics, we introduce OpenSim Moco ("musculoskeletal optimal control"), an easy-to-use, customizable, and extensible  ... 
doi:10.1101/839381 fatcat:vh7qkram2nbgxkyukmiusttjbu

OpenSim Moco: Musculoskeletal optimal control

Christopher L. Dembia, Nicholas A. Bianco, Antoine Falisse, Jennifer L. Hicks, Scott L. Delp, Kenneth S Campbell
2020 PLoS Computational Biology  
Here, we introduce OpenSim Moco, a software toolkit for optimizing the motion and control of musculoskeletal models built in the OpenSim modeling and simulation package.  ...  OpenSim Moco uses the direct collocation method, which is often faster and can handle more diverse problems than other methods for musculoskeletal simulation.  ...  To improve the accessibility of advanced optimal control methods in musculoskeletal biomechanics, we introduce OpenSim Moco ("musculoskeletal optimal control"), an easy-to-use, customizable, and extensible  ... 
doi:10.1371/journal.pcbi.1008493 pmid:33370252 fatcat:7gl2kldtpnggtmixptdvngaqey

Bioptim, a Python framework for Musculoskeletal Optimal Control in Biomechanics [article]

Benjamin Michaud, François Bailly, Eve Charbonneau, Amedeo Ceglia, Léa Sanchez, Mickael Begon
2021 bioRxiv   pre-print
We introduce bioptim, an easy-to-use Python framework for biomechanical optimal control, handling musculoskeletal models.  ...  Musculoskeletal simulations are useful in biomechanics to investigate the causes of movement disorder, to estimate non-measurable physiological quantities or to study the optimality of human movement.  ...  In order to promote the use of musculoskeletal optimal control among biomechanics researcher, we identified a strong need for a dedicated tool, as shown by the recently launched OpenSim Moco [22] .  ... 
doi:10.1101/2021.02.27.432868 fatcat:db3oduicnja7lldswjnlbeepl4

A direct collocation framework for optimal control simulation of pedaling using OpenSim

Sangsoo Park, Graham E. Caldwell, Brian R. Umberger, Katherine Saul
2022 PLoS ONE  
Thus, the aim of this study was to develop a DC framework for optimal control simulation of human pedaling within the OpenSim modeling environment.  ...  A planar bicycle-rider model was developed in OpenSim. The DC method was formulated in MATLAB to solve an optimal control pedaling problem using a data tracking approach.  ...  While the spring-based foot-pedal constraint worked well in practice, the newly released PLOS ONE OpenSim Moco optimal control framework can accommodate kinematic constraints and thus would allow the  ... 
doi:10.1371/journal.pone.0264346 pmid:35192643 pmcid:PMC8863267 fatcat:6xfjnn5c7jfr7ldksylshyfqnq

Predictive simulation of single-leg landing scenarios for ACL injury risk factors evaluation [article]

Evgenia Moustridi
2022 arXiv   pre-print
Computational modeling and simulation allows for studying musculoskeletal systems.  ...  for optimizing the motion and control of musculoskeletal systems (MOCO 2020b).  ...  These were the OpenSim, SCONE and Moco interfaces.  ... 
arXiv:2202.13749v1 fatcat:blcfmpbhdzhntjane3mdz66e3q

Adaptive Reference Inverse Optimal Control for Natural Walking with Musculoskeletal Models

Jiacheng Weng, Ehsan Hashemi, Arash Arami
2022
An efficient inverse optimal control method named Adaptive Reference IOC is introduced to study natural walking with musculoskeletal models.  ...  Adaptive Reference IOC utilizes efficient inner-loop direct collocation for optimal trajectory prediction along with a gradient-based weight update inspired by structured classification in the outer-loop  ...  We used OpenSim Moco [2] to formulate the DC problem with musculoskeletal models.  ... 
doi:10.1109/tnsre.2022.3180690 pmid:35666794 fatcat:yr7o4zetnrg3dapqmt4jfm44ly

Simulating the impact of glenohumeral capsulorrhaphy on movement kinematics and muscle function in activities of daily living [article]

Aaron S Fox, Stephen D Gill, Jason Bonacci, Richard S Page
2020 bioRxiv   pre-print
A musculoskeletal model of the torso and upper limb was adapted to include passive restraints that simulated the changes in shoulder range of motion stemming from selective glenohumeral capsulorrhaphy  ...  OpenSim Moco provides a framework for solving optimal control problems for musculoskeletal systems using direct collocation.  ...  Implementing such a constraint within the current OpenSim Moco framework is also difficult and would likely result in a substantial increase in simulation times.  ... 
doi:10.1101/2020.06.02.130880 fatcat:jx46ek25yrdihbtmxdc5mutscq

Learning Control Policies for Imitating Human Gaits [article]

Utkarsh A. Mishra
2021 arXiv   pre-print
Model-free reinforcement learning algorithms were used to optimize inverse dynamics control actions to satisfy the objective of imitating a reference motion along with secondary objectives of minimizing  ...  While skeletal models are driven with motor actuation, musculoskeletal models perform through muscle-tendon actuation.  ...  Furthermore, various open-source frameworks like OpenSim MOCO [5] , and OpenSim SCONE [6] continuously solve predictive simulation problems using the same technique.  ... 
arXiv:2106.15273v1 fatcat:fgigjg3ujvatlpb5sad4boh3gq

Patterns of asymmetry and energy cost generated from predictive simulations of hemiparetic gait

Russell T. Johnson, Nicholas A. Bianco, James M. Finley, Aldo A. Faisal
2022 PLoS Computational Biology  
We then solved optimal control simulations of walking across a range of speeds by minimizing the sum of the cubed muscle excitations.  ...  We modified a 2-D musculoskeletal model by uniformly reducing the peak isometric muscle force unilaterally.  ...  Methods Musculoskeletal model A two-dimensional, sagittal-plane musculoskeletal model with 11 degrees-of-freedom (DOF) was used (Fig 1A ) within the OpenSim Moco software to generate optimal control  ... 
doi:10.1371/journal.pcbi.1010466 pmid:36084139 pmcid:PMC9491609 fatcat:u26fjzceoffstbt5ncc7zevld4

Transtibial limb loss does not increase metabolic cost in three-dimensional computer simulations of human walking

Ross H. Miller, Elizabeth Russell Esposito
2021 PeerJ  
Here we used a 3-D computer model and optimal control simulation approach to test the hypothesis that transtibial limb loss in and of itself causes an increase in metabolic cost of walking.  ...  No other changes were made to the post-limb loss model's remaining muscles or musculoskeletal parameters compared to the pre-limb loss case.  ...  In conclusion, walking with a transtibial prosthesis after below-knee limb loss did not increase the metabolic cost in optimal control simulations with a 3-D musculoskeletal model.  ... 
doi:10.7717/peerj.11960 fatcat:26cisgopv5h6zeqdqerjxck6se

Simulated hemiparesis increases optimal spatiotemporal gait asymmetry but not metabolic cost [article]

Russell T Johnson, Nicholas August Bianco, James Finley
2021 bioRxiv   pre-print
We then solved optimal control simulations of walking across a range of speeds by minimizing the sum of the cubed muscle excitations across all muscles.  ...  We modified a 2-D musculoskeletal model by uniformly reducing the peak isometric muscle force in all muscles unilaterally.  ...  Methods Musculoskeletal Model: A two-dimensional, sagittal-plane musculoskeletal model with 11 degrees-of-freedom (DOF) was used (Fig 1A ) within the OpenSim Moco software to generate optimal control  ... 
doi:10.1101/2021.12.20.473515 fatcat:pscglmap2bdihkawmxclvgcq7e

A Conceptual Blueprint for Making Neuromusculoskeletal Models Clinically Useful

Benjamin J. Fregly
2021 Applied Sciences  
other researchers to use academic direct collocation software such as GPOPS-II [25, 26] , CasADi [135, 136] , and OpenSim Moco [248] .  ...  More realistic musculoskeletal models have been coupled with simpler neural control models employing modular control [25] [26] [27] 136, 137, [160] [161] [162] [163] or proprioceptive feedback [164]  ... 
doi:10.3390/app11052037 fatcat:3hgyfekmgrgjnapgz554jjam3i

Minimum effort simulations of split-belt treadmill walking exploit asymmetry to reduce metabolic energy expenditure [article]

Mark A Price, Meghan E Huber, Wouter Hoogkamer
2022 bioRxiv   pre-print
a human musculoskeletal model which minimized muscle effort.  ...  To determine if an energy minimization motor control strategy would result in experimentally observed adaptation patterns, we conducted simulations of walking on different combinations of belt speeds with  ...  We generated simulations of periodic strides using a direct collocation optimal control method implemented through the Moco 1.1.0 package (26) included with OpenSim 4.3.  ... 
doi:10.1101/2022.08.15.503979 fatcat:c25eohnfbzhy7e2ijgva6q54va

Prediction of walking kinematics and muscle activities under idealized lower limb exoskeleton assistances

Neethan Ratnakumar, Vinay Devulapalli, Niranjan Deepak, Xianlian Zhou
2022 Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022) and Iowa Virtual Human Summit 2022 -   unpublished
A 2D musculoskeletal model with 10 degrees of freedom and 18 muscles was used and the OpenSim Moco optimal control solver was employed for all predictive simulations, which aimed to minimize the weighted  ...  Optimization of walking with and without assistances was formulated as optimal control problems within Moco.  ...  The introduction of the opensource toolkit, OpenSim Moco (Dembia et al., 2020) , has made direct collocation more accessible to the musculoskeletal biomechanics community.  ... 
doi:10.17077/dhm.31769 fatcat:monpdq5chbcszkremyoml2sovm

Finding Emergent Gait Patterns May Reduce Progression of Knee Osteoarthritis in a Clinically Relevant Time Frame

Dhruv Gupta, Cyril John Donnelly, Jeffrey A Reinbolt
2022
In this study, we used OpenSim Moco to find gait kinematics that reduced the peaks of the KAM, without increasing the peaks of the KFM, which could potentially reduce the MCF and, hence, the progression  ...  With the use of trajectory optimization in OpenSim Moco, the same goal of finding optimal movement patterns could be achieved in a matter of minutes.  ...  Musculoskeletal Model and Foot Contact Model We used the generic 23 degrees of freedom gait 2392 musculoskeletal model freely available with the OpenSim software (simtk.org).  ... 
doi:10.3390/life12071050 pmid:35888138 pmcid:PMC9318542 fatcat:4yl6ivkohfd63jf7kpvloooas4
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